@article{blanco_se3_tutorial,
  title={A tutorial on se (3) transformation parameterizations and on-manifold optimization},
  author={Blanco, Jose-Luis},
  journal={University of Malaga, Tech. Rep},
  year={2010},
  url={http://ingmec.ual.es/~jlblanco/papers/jlblanco2010geometry3D_techrep.pdf}
}
